Autonomous trading in modern electricity markets

The smart grid is an electricity grid augmented with digital technologies that automate the management of electricity delivery. The smart grid is envisioned to be a main enabler of sustainable, clean, efficient, reliable, and secure energy supply. One of the milestones in the smart grid vision will be programs for customers to participate in electricity markets through demand-side management and distributed generation; electricity markets will (directly or indirectly) incentivize customers to adapt their demand to supply conditions, which in turn will help to utilize intermittent energy resources such as from solar and wind, and to reduce peak-demand. Since wholesale electricity markets are not designed for individual participation, retail brokers could represent customer populations in the wholesale market, and make profit while contributing to the electricity grid’s stability and reducing customer costs. A retail broker will need to operate continually and make real-time decisions in a complex, dynamic environment. Therefore, it will benefit from employing an autonomous broker agent. With this motivation in mind, this dissertation makes five main contributions to the areas of artificial intelligence, smart grids, and electricity markets. First, this dissertation formalizes the problem of autonomous trading by a retail broker in modern electricity markets. Since the trading problem is intractable to solve exactly, this formalization provides a guideline for approximate solutions. Second, this dissertation introduces a general algorithm for autonomous trading in modern electricity markets, named LATTE (Lookahead-policy for Autonomous Time-constrained Trading of Electricity). LATTE is a general framework that can be instantiated in different ways that tailor it to specific setups. Third, this dissertation contributes fully implemented and operational autonomous broker agents, each using a different instantiation of LATTE. These agents were successful in international competitions and controlled experiments and can serve as benchmarks for future research in this domain. Detailed descriptions of the agents’ behaviors as well as their source code are included in this dissertation. Fourth, this dissertation contributes extensive empirical analysis which validates the effectiveness of LATTE in different competition levels under a variety of environmental conditions, shedding light on the main reasons for its success by examining the importance of its constituent components. Fifth, this dissertation examines the impact of Time-Of-Use (TOU) tariffs in competitive electricity markets through empirical analysis. Time-Of-Use tariffs are proposed for demand-side management both in the literature and in the real-world. The success of the different instantiations of LATTE demonstrates its generality in the context of electricity markets. Ultimately, this dissertation demonstrates that an autonomous broker can act effectively in modern electricity markets by executing an efficient lookahead policy that optimizes its predicted utility, and by doing so the broker can benefit itself, its customers, and the economy.Computer Science

Hierarchical Speed Planner for Automated Vehicles: A Framework for Lagrangian Variable Speed Limit in Mixed Autonomy Traffic

This paper introduces a novel control framework for Lagrangian variable speed limits in hybrid traffic flow environments utilizing automated vehicles (AVs). The framework was validated using a fleet of 100 connected automated vehicles as part of the largest coordinated open-road test designed to smooth traffic flow. The framework includes two main components: a high-level controller deployed on the server side, named Speed Planner, and low-level controllers called vehicle controllers deployed on the vehicle side. The Speed Planner designs and updates target speeds for the vehicle controllers based on real-time Traffic State Estimation (TSE) [1]. The Speed Planner comprises two modules: a TSE enhancement module and a target speed design module. The TSE enhancement module is designed to minimize the effects of inherent latency in the received traffic information and to improve the spatial and temporal resolution of the input traffic data. The target speed design module generates target speed profiles with the goal of improving traffic flow. The vehicle controllers are designed to track the target speed meanwhile responding to the surrounding situation. The numerical simulation indicates the performance of the proposed method: the bottleneck throughput has increased by 5.01%, and the speed standard deviation has been reduced by a significant 34.36%. We further showcase an operational study with a description of how the controller was implemented on a field-test with 100 AVs and its comprehensive effects on the traffic flow

Traffic Control via Connected and Automated Vehicles: An Open-Road Field Experiment with 100 CAVs

The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. These "phantom jams" or "stop-and-go waves,"are a significant source of wasted energy. Toward this goal, the CIRCLES project designed a control system referred to as the MegaController by the CIRCLES team, that could be deployed in real traffic. Our field experiment leveraged a heterogeneous fleet of 100 longitudinally-controlled vehicles as Lagrangian traffic actuators, each of which ran a controller with the architecture described in this paper. The MegaController is a hierarchical control architecture, which consists of two main layers. The upper layer is called Speed Planner, and is a centralized optimal control algorithm. It assigns speed targets to the vehicles, conveyed through the LTE cellular network. The lower layer is a control layer, running on each vehicle. It performs local actuation by overriding the stock adaptive cruise controller, using the stock on-board sensors. The Speed Planner ingests live data feeds provided by third parties, as well as data from our own control vehicles, and uses both to perform the speed assignment. The architecture of the speed planner allows for modular use of standard control techniques, such as optimal control, model predictive control, kernel methods and others, including Deep RL, model predictive control and explicit controllers. Depending on the vehicle architecture, all onboard sensing data can be accessed by the local controllers, or only some. Control inputs vary across different automakers, with inputs ranging from torque or acceleration requests for some cars, and electronic selection of ACC set points in others. The proposed architecture allows for the combination of all possible settings proposed above. Most configurations were tested throughout the ramp up to the MegaVandertest

Traffic Control via Connected and Automated Vehicles (CAVs): An Open-Road Field Experiment with 100 CAVs

The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. Also called "phantom jams"or "stop-and-go waves,"these instabilities are a significant source of wasted energy. Toward this goal, the CIRCLES project designed a control system, referred to as the MegaController by the CIRCLES team, that could be deployed in real traffic. Our field experiment, the MegaVanderTest (MVT), leveraged a heterogeneous fleet of 100 longitudinally controlled vehicles as Lagrangian traffic actuators, each of which ran a controller with the architecture described in this article. The MegaController is a hierarchical control architecture that consists of two main layers. The upper layer is called the Speed Planner and is a centralized optimal control algorithm. It assigns speed targets to the vehicles, conveyed through the LTE cellular network. The lower layer is a control layer, running on each vehicle. It performs local actuation by overriding the stock adaptive cruise controller, using the stock onboard sensors. The Speed Planner ingests live data feeds provided by third parties as well as data from our own control vehicles and uses both to perform the speed assignment. The architecture of the Speed Planner allows for the modular use of standard control techniques, such as optimal control, model predictive control (MPC), kernel methods, and others. The architecture of the local controller allows for the flexible implementation of local controllers. Corresponding techniques include deep reinforcement learning (RL), MPC, and explicit controllers. Depending on the vehicle architecture, all onboard sensing data can be accessed by the local controllers or only some. Likewise, control inputs vary across different automakers, with inputs ranging from torque or acceleration requests for some cars to electronic selection of adaptive cruise control (ACC) setpoints in others. The proposed architecture technically allows for the combination of all possible settings proposed previously, that is Speed Planner algorithms × local Vehicle Controller algorithms} × {full or partial sensing} × {torque or speed control}. Most configurations were tested throughout the ramp up to the MegaVandertest (MVT)

Autonomous trading in modern electricity markets

The smart grid is envisioned to be a main enabler of sustainable, clean, efficient, reliable, and secure energy supply (U.S. Department of Energy, 2003). One of the milestones in the smart grid vision will be programs for customer participation in electricity markets through demand-side management and distributed generation; electricity markets will incentivize customers to adapt their demand to supply conditions, which will help to utilize intermittent energy resources such as from solar and wind, and to reduce peak-demand. </jats:p

TacTex'13: A Champion Adaptive Power Trading Agent

Sustainable energy systems of the future will no longer be able to rely on the current paradigm that energy supply follows demand. Many of the renewable energy resources do not produce power on demand, and therefore there is a need for new market structures that motivate sustainable behaviors by participants. The Power Trading Agent Competition (Power TAC) is a new annual competition that focuses on the design and operation of future retail power markets, specifically in smart grid environments with renewable energy production, smart metering, and autonomous agents acting on behalf of customers and retailers. It uses a rich, open-source simulation platform that is based on real-world data and state-of-the-art customer models. Its purpose is to help researchers understand the dynamics of customer and retailer decision-making, as well as the robustness of proposed market designs. This paper introduces TacTex'13, the champion agent from the inaugural competition in 2013. TacTex'13 learns and adapts to the environment in which it operates, by heavily relying on reinforcement learning and prediction methods. This paper describes the constituent components of TacTex'13 and examines its success through analysis of competition results and subsequent controlled experiments. </jats:p

TacTex'13: A Champion Adaptive Power Trading Agent

Sustainable energy systems of the future will no longer be able to rely on the current paradigm that energy supply follows demand. Many of the renewable energy resources do not produce power on demand, and therefore there is a need for new market structures that motivate sustainable behaviors by participants. The Power Trading Agent Competition (Power TAC) is a new annual competition that focuses on the design and operation of future retail power markets, specifically in smart grid environments with renewable energy production, smart metering, and autonomous agents acting on behalf of customers and retailers. It uses a rich, open-source simulation platform that is based on real-world data and state-of-the-art customer models. Its purpose is to help researchers understand the dynamics of customer and retailer decision-making, as well as the robustness of proposed market designs. This paper introduces TacTex'13, the champion agent from the inaugural competition in 2013. TacTex'13 learns and adapts to the environment in which it operates, by heavily relying on reinforcement learning and prediction methods. This paper describes the constituent components of TacTex'13 and examines its success through analysis of competition results and subsequent controlled experiments

Autonomous Electricity Trading Using Time-of-Use Tariffs in a Competitive Market

This paper studies the impact of Time-Of-Use (TOU) tariffs in a competitive electricity market place. Specifically, it focuses on the question of how should an autonomous broker agent optimize TOU tariffs in a competitive retail market, and what is the impact of such tariffs on the economy. We formalize the problem of TOU tariff optimization and propose an algorithm for approximating its solution. We extensively experiment with our algorithm in a large-scale, detailed electricity retail markets simulation of the Power Trading Agent Competition (Power TAC) and: 1) find that our algorithm results in 15% peak-demand reduction, 2) find that its peak-flattening results in greater profit and/or profit-share for the broker and allows it to win against the 1st and 2nd place brokers from the Power TAC 2014 finals, and 3) analyze several economic implications of using TOU tariffs in competitive retail markets